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Architecture to Support Teleoperation and Autonomy

Published

Author(s)

Ronald Lumia, James S. Albus

Abstract

The Flight Telerobotic Servicer (FTS) will support assembly and maintenance activities for the Space Station. In order for the FTS to evolve with technology, careful attention must be paid to the system''s functional architecture. This paper describes an approach to the functional architecture so that teleoperation, slated for beginning of the program, and autonomy, scheduled later in the program, can both be supported. The system is hierarchically organized where task decomposition, world modeling, and sensory processing are explicitly represented. Goals at each level of the hierarchy are decomposed spatially and temporally into simpler tasks which become goals for lower levels. The spatial decomposition facilitates control and coordinate of multi- arm robots.
Proceedings Title
Proceedings of the 1987 IEEE Conference on Systems
Conference Dates
October 20-23, 1987
Conference Location
Alexandria, VA
Conference Title
1987 IEEE Conference on Systems

Keywords

NASREM

Citation

Lumia, R. and Albus, J. (1987), Architecture to Support Teleoperation and Autonomy, Proceedings of the 1987 IEEE Conference on Systems, Alexandria, VA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820304 (Accessed July 12, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created October 23, 1987, Updated February 17, 2017